CN114193431A - Method for controlling robot based on PLC - Google Patents
Method for controlling robot based on PLC Download PDFInfo
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- CN114193431A CN114193431A CN202111625622.XA CN202111625622A CN114193431A CN 114193431 A CN114193431 A CN 114193431A CN 202111625622 A CN202111625622 A CN 202111625622A CN 114193431 A CN114193431 A CN 114193431A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The method for controlling the robot based on the PLC is realized by using a client and a server, wherein the client comprises the PLC and a touch screen, the server comprises the robot, and the robot comprises a robot body, a robot motor, a robot controller and a robot encoder; the PLC is connected with the touch screen through the Ethernet; the robot controller is provided with an RAM, an ROM and an I/O, wherein the I/O is used for connecting the PLC, the RAM is used for reading or writing robot controller communication parameters, robot coordinate parameters, the current motion state of the robot and the current position of the robot from the PLC to the PCL, and the ROM is used for reading robot fault codes and robot limit coordinates from the PLC; according to the robot demonstrator, the PLC is adopted to replace the existing robot demonstrator technology to control the robot, so that the practicability and the applicability of the robot are greatly improved.
Description
Technical Field
The invention relates to the field of robot control, in particular to a method for controlling a robot based on a PLC.
Background
The robot teach pendant, also called a teach pendant programmer, is a core component of a robot control system, and is a device for registering and storing mechanical movements or processing memory, which is executed by an electronic system or a computer system. A data acquisition module and a data storage module which run in the robot demonstrator are often required to be pre-specified and programmed in the robot demonstrator, and are modified through a matched controller configuration system; on the other hand, the robot demonstrator is based on a network, the application environment of the robot demonstrator is non-real-time data acquisition, and a special communication protocol needs to be formulated for configuration and maintenance, so that the practicability and the applicability of the robot are greatly reduced.
Because PLC adopts programming, input command's mode control, adjustment nature and controllability are stronger, and the operation is simple relatively, and the operation complexity is lower, and the security stability is higher relatively, and robot automatic control method design result based on PLC programming basis directly possesses PLC's advantage, and the practicality is higher, and the operation requirement is lower, and operation continuity and operational reliability are high, consequently, adopt PLC to replace the robot demonstrator to control the robot, can greatly improve the practicality and the suitability of robot.
Disclosure of Invention
The invention aims to provide a method for controlling a robot based on a PLC (programmable logic controller), which is used for controlling the robot by adopting the PLC instead of the existing robot demonstrator technology, so that the practicability and the applicability of the robot are greatly improved.
The method for controlling the robot based on the PLC is realized by using a client and a server, wherein the client comprises the PLC and a touch screen, the server comprises the robot, and the robot comprises a robot body, a robot motor, a robot controller and a robot encoder; the PLC is connected with the touch screen through Ethernet; the robot controller is provided with an RAM, an ROM and an I/O, the I/O is used for being connected with the PLC, the RAM is used for reading robot controller communication parameters, robot coordinate parameters, the current motion state of the robot and the current position of the robot from the PLC or writing the robot controller communication parameters, the robot coordinate parameters, the current motion state of the robot and the current position of the robot into the PCL, and the ROM is used for reading robot fault codes and robot limit coordinates from the PLC;
the method for controlling the robot based on the PLC comprises the following steps:
s1: the user selects the robot to be controlled on the touch screen;
s2: setting position coordinates for moving to a specified position for the robot on the touch screen by a user;
s3: the position coordinates are sent to the PLC through the Ethernet;
s4: the PLC reads the current robot coordinate parameter, the current motion state and the current position of the robot through the RAM to perform processing analysis, judges whether the robot can move to the position coordinate, generates action execution information if the robot can move to the position coordinate, and generates action waiting information if the robot cannot move to the position coordinate;
s5: the action execution information or the action waiting information is sent to the robot encoder through the I/O;
s6: the robot encoder decodes the action execution information or the action waiting information and transmits the decoded information to the robot controller;
s7: the robot controller generates a control instruction to control the robot motor to operate according to the received information transmitted by the robot code;
s8: if the robot controller receives the decoded motion execution information from the robot encoder, the robot controller controls the operation of the robot motor through the control instruction, so that the robot body moves to the position coordinate;
s9: and if the robot controller receives the information decoded by the action waiting information from the robot encoder, the robot controller controls the operation of the robot motor through the control instruction, so that the robot body moves to a preset position coordinate.
Furthermore, the communication mode between the I/O and the PLC comprises CAN, Modbus and TCP.
Further, the robot controller communication parameters include: the robot controller hardware version number, the robot controller software version number, the first section of the robot IP setting, the robot port number, the robot data buffering mode and the robot receiving excess time setting.
Further, the parameters of the control instruction include: the robot type, the left hand, the right hand, the zero returning mode, the global speed, the running/stopping of the robot, the running zone bit and the manual debugging.
Further, the robot coordinate parameters include: the robot base point X coordinate value, the robot base point Y coordinate value, the robot base point Z coordinate value, the robot base point R coordinate value and the robot base point U coordinate value.
Further, the parameters of the current motion state of the robot include: the X coordinate value of the 1 st point of the robot, the Y coordinate value of the 1 st point of the robot, the Z coordinate value of the 1 st point of the robot, the R coordinate value of the 1 st point of the robot and the U coordinate value of the 1 st point of the robot.
Further, the parameters of the current position of the robot include: the system comprises an operation zone bit, a current X coordinate value of the robot, a current Y coordinate value of the robot, a current Z coordinate value of the robot, a current R coordinate value of the robot and a current U coordinate value of the robot.
Further, the parameters of the robot limit coordinates include: robot limit X coordinate value, robot limit Y coordinate value, robot limit Z coordinate value, robot limit R coordinate value and robot limit U coordinate value.
The method for controlling the robot based on the PLC is realized by using a client and a server, wherein the client comprises the PLC and a touch screen, the server comprises the robot, and the robot comprises a robot body, a robot motor, a robot controller and a robot encoder; the PLC is connected with the touch screen through the Ethernet; the robot controller is provided with an RAM, an ROM and an I/O, wherein the I/O is used for connecting the PLC, the RAM is used for reading or writing robot controller communication parameters, robot coordinate parameters, the current motion state of the robot and the current position of the robot from the PLC to the PCL, and the ROM is used for reading robot fault codes and robot limit coordinates from the PLC; according to the robot demonstrator, the PLC is adopted to replace the existing robot demonstrator technology to control the robot, so that the practicability and the applicability of the robot are greatly improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling a robot based on a PLC according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. It is to be understood that the terms "upper", "lower", "left", "right", and the like, if any, are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms in the drawings describing the positional relationships are used for illustrative purposes only and are not to be construed as limiting the present patent, and the specific meanings of the terms will be understood by those skilled in the art according to the specific circumstances.
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the method for controlling a robot based on a PLC provided by the present invention is implemented using a client and a server, wherein the client includes a PLC and a touch screen, the server includes a robot, and the robot includes a robot body, a robot motor, a robot controller, and a robot encoder; the PLC is connected with the touch screen through the Ethernet; the robot controller is provided with an RAM, an ROM and an I/O, wherein the I/O is used for connecting the PLC, the RAM is used for reading or writing robot controller communication parameters, robot coordinate parameters, the current motion state of the robot and the current position of the robot from the PLC to the PCL, and the ROM is used for reading robot fault codes and robot limit coordinates from the PLC;
the method for controlling the robot based on the PLC comprises the following steps:
s1: a user selects a robot to be controlled on a touch screen;
s2: a user sets a position coordinate moving to a specified position for the robot on the touch screen;
s3: the position coordinates are sent to the PLC through the Ethernet;
s4: the PLC reads the current robot coordinate parameter, the current motion state and the current position of the robot through the RAM to perform processing analysis, judges whether the robot can move to the position coordinate, generates action execution information if the robot can move to the position coordinate, and generates action waiting information if the robot cannot move to the position coordinate;
s5: the action execution information or the action waiting information is sent to the robot encoder through the I/O;
s6: the robot encoder decodes the action execution information or the action waiting information and transmits the decoded information to the robot controller;
s7: the robot controller generates a control instruction to control the robot motor to operate according to the received information transmitted by the robot code;
s8: if the robot controller receives the information after the action execution information is decoded from the robot encoder, the robot controller controls the operation of a robot motor through a control instruction so that the robot body moves to a position coordinate;
s9: and if the robot controller receives the information decoded by the action waiting information from the robot encoder, the robot controller controls the operation of a robot motor through a control instruction, so that the robot body moves to the preset position coordinate.
The method for controlling the robot based on the PLC is realized by using a client and a server, wherein the client comprises the PLC and a touch screen, the server comprises the robot, and the robot comprises a robot body, a robot motor, a robot controller and a robot encoder; the PLC is connected with the touch screen through the Ethernet; the robot controller is provided with an RAM, an ROM and an I/O, wherein the I/O is used for connecting the PLC, the RAM is used for reading or writing robot controller communication parameters, robot coordinate parameters, the current motion state of the robot and the current position of the robot from the PLC to the PCL, and the ROM is used for reading robot fault codes and robot limit coordinates from the PLC; according to the robot demonstrator, the PLC is adopted to replace the existing robot demonstrator technology to control the robot, so that the practicability and the applicability of the robot are greatly improved.
In one embodiment of the present invention, the communication method between the I/O and the PLC includes CAN, Modbus, and TCP.
As an embodiment of the present invention, the robot controller communication parameters include:
the robot controller hardware version number,
the version number of the robot controller software,
the robot IP sets a first segment, such as "6" at 192.168.1.6,
the robot IP sets a first segment, such as "1" at 192.168.1.6,
the robot IP sets a first segment, such as "168" at 192.168.1.6,
the robot IP sets a first segment, such as "192" of 192.168.1.6,
robot port number: 502,
robot data buffer mode: 16 bits or 8 bits, by default 16 bits,
the robot receives the excess time setting: 0-50000, and default is 0.
As an embodiment of the present invention, the parameters of the control instruction include:
robot type: cartesian coordinates 0, SCARA 1, datell 2, 6-axis 3,
left hand 0 (default), right hand 1,
and (3) a zero returning mode: quick return is 0 (default setting), straight line is 1,
global speed: 1-100, default setting of 20%,
robot running/stopping: stopping being 0, running being 1; during operation, the zero clearing is carried out firstly, then 1 is set (the data must be valid data and cannot exceed the motion range value),
operating a zone bit: run 1, stop 2, idle 0, and 83 functions in concert to facilitate reading,
manual debugging: x axis-d.0 d.1, 10 is positive direction, 01 is negative direction; y axis-d.2 d.3, 10 is positive direction, 01 is negative direction; the Z axis-d.3 d.4 is positive when 10, negative when 01, and so on.
As an embodiment of the present invention, the robot coordinate parameters include:
the robot origin X coordinate value (X1000 times),
the robot origin Y-coordinate value (x 1000 times),
the Z coordinate value (x 1000 times) of the robot origin,
the robot origin R coordinate value (x 1000 times),
robot origin U coordinate value (× 1000 times).
As an embodiment of the present invention, the parameters of the current motion state of the robot include:
the X coordinate value (multiplied by 1000) of the 1 st point of the robot can be recycled after the operation zone bit is from 1 to 0,
the robot 1 st point Y coordinate value (x 1000 times),
the Z coordinate value (x 1000 times) of the 1 st point of the robot,
the robot 1 st point R coordinate value (x 1000 times),
robot 1 st point U coordinate value (× 1000 times).
As an embodiment of the present invention, the parameters of the current position of the robot include:
operating a zone bit: run-1, stop-0, consistent with 16 functions for easy reading,
the robot currently has an X coordinate value (X1000 times),
the robot current Y coordinate value (x 1000 times),
the robot current Z coordinate value (x 1000 times),
the robot's current R coordinate value (x 1000 times),
robot current U coordinate value (× 1000 times).
As an embodiment of the present invention, the parameters of the robot limit coordinates include:
robot limit X-coordinate value (X1000 times),
robot limit Y-coordinate value (x 1000 times),
robot limit Z coordinate value (x 1000 times),
robot limit R coordinate value (× 1000 times),
robot limit U coordinate value (× 1000 times).
The PLC included in the technical solution of the present invention is an existing, published, and mature product, and those skilled in the art can easily implement the functions described in the technical solution by programming according to the programming manual of the manufacturer in combination with the technical solution.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The method for controlling the robot based on the PLC is characterized by being achieved by using a client and a server, wherein the client comprises the PLC and a touch screen, the server comprises the robot, and the robot comprises a robot body, a robot motor, a robot controller and a robot encoder; the PLC is connected with the touch screen through Ethernet; the robot controller is provided with an RAM, an ROM and an I/O, the I/O is used for being connected with the PLC, the RAM is used for reading robot controller communication parameters, robot coordinate parameters, the current motion state of the robot and the current position of the robot from the PLC or writing the robot controller communication parameters, the robot coordinate parameters, the current motion state of the robot and the current position of the robot into the PCL, and the ROM is used for reading robot fault codes and robot limit coordinates from the PLC;
the method for controlling the robot based on the PLC comprises the following steps:
s1: the user selects the robot to be controlled on the touch screen;
s2: setting position coordinates for moving to a specified position for the robot on the touch screen by a user;
s3: the position coordinates are sent to the PLC through the Ethernet;
s4: the PLC reads the current robot coordinate parameter, the current motion state and the current position of the robot through the RAM to perform processing analysis, judges whether the robot can move to the position coordinate, generates action execution information if the robot can move to the position coordinate, and generates action waiting information if the robot cannot move to the position coordinate;
s5: the action execution information or the action waiting information is sent to the robot encoder through the I/O;
s6: the robot encoder decodes the action execution information or the action waiting information and transmits the decoded information to the robot controller;
s7: the robot controller generates a control instruction to control the robot motor to operate according to the received information transmitted by the robot code;
s8: if the robot controller receives the decoded motion execution information from the robot encoder, the robot controller controls the operation of the robot motor through the control instruction, so that the robot body moves to the position coordinate;
s9: and if the robot controller receives the information decoded by the action waiting information from the robot encoder, the robot controller controls the operation of the robot motor through the control instruction, so that the robot body moves to a preset position coordinate.
2. The method for controlling the robot based on the PLC of claim 1, wherein the communication mode between the I/O and the PLC comprises CAN, Modbus and TCP.
3. The PLC-based robot control method according to claim 1, wherein the robot controller communication parameters include: the robot controller hardware version number, the robot controller software version number, the first section of the robot IP setting, the robot port number, the robot data buffering mode and the robot receiving excess time setting.
4. The PLC-based robot control method according to claim 1, wherein the parameters of the control command include: the robot type, the left hand, the right hand, the zero returning mode, the global speed, the running/stopping of the robot, the running zone bit and the manual debugging.
5. The PLC-based robot control method according to claim 1, wherein the robot coordinate parameter includes: the robot base point X coordinate value, the robot base point Y coordinate value, the robot base point Z coordinate value, the robot base point R coordinate value and the robot base point U coordinate value.
6. The method for controlling the robot based on the PLC of claim 1, wherein the parameters of the current motion state of the robot comprise: the X coordinate value of the 1 st point of the robot, the Y coordinate value of the 1 st point of the robot, the Z coordinate value of the 1 st point of the robot, the R coordinate value of the 1 st point of the robot and the U coordinate value of the 1 st point of the robot.
7. The PLC-based robot control method according to claim 1, wherein the parameters of the current position of the robot include: the system comprises an operation zone bit, a current X coordinate value of the robot, a current Y coordinate value of the robot, a current Z coordinate value of the robot, a current R coordinate value of the robot and a current U coordinate value of the robot.
8. The method for controlling a robot based on a PLC of claim 1, wherein the parameters of the robot limit coordinates comprise: robot limit X coordinate value, robot limit Y coordinate value, robot limit Z coordinate value, robot limit R coordinate value and robot limit U coordinate value.
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| CN202111625622.XA CN114193431A (en) | 2021-12-28 | 2021-12-28 | Method for controlling robot based on PLC |
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| CN202111625622.XA CN114193431A (en) | 2021-12-28 | 2021-12-28 | Method for controlling robot based on PLC |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0784768A (en) * | 1993-09-10 | 1995-03-31 | Nissan Motor Co Ltd | Unified operation type programming supporting device |
| CN201527571U (en) * | 2009-06-30 | 2010-07-14 | 无锡职业技术学院 | Micro-computer teaching type servo control system |
| CN104932407A (en) * | 2015-05-27 | 2015-09-23 | 苏州荣威工贸有限公司 | Modular robot driving control system and method based on PLC |
| CN106843128A (en) * | 2017-03-07 | 2017-06-13 | 佛山华数机器人有限公司 | Producing line control system and control method based on CC LINK applications |
-
2021
- 2021-12-28 CN CN202111625622.XA patent/CN114193431A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0784768A (en) * | 1993-09-10 | 1995-03-31 | Nissan Motor Co Ltd | Unified operation type programming supporting device |
| CN201527571U (en) * | 2009-06-30 | 2010-07-14 | 无锡职业技术学院 | Micro-computer teaching type servo control system |
| CN104932407A (en) * | 2015-05-27 | 2015-09-23 | 苏州荣威工贸有限公司 | Modular robot driving control system and method based on PLC |
| CN106843128A (en) * | 2017-03-07 | 2017-06-13 | 佛山华数机器人有限公司 | Producing line control system and control method based on CC LINK applications |
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